Wanted to add numexpr into the mix:
import numpy as np
import numexpr as ne
a = np.array([1, 3, 5, 6, 9, 10, 14, 15, 56])
np.where(ne.evaluate("(6 <= a) & (a <= 10)"))[0]
# array([3, 4, 5], dtype=int64)
Would only make sense for larger arrays with millions... or if you hitting a memory limits.